The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 18, 2015
Filed:
Jul. 29, 2009
Mohammed Selim Ben Himane, Munich, DE;
Mohammed Selim Ben Himane, Munich, DE;
Metaio GmbH, Munich, DE;
Abstract
A method for determining the pose of a camera with respect to at least one real object, the method comprises the following steps: operating the camera () for capturing a 2-dimensional (or 3-dimensional) image () including at least a part of the real object (), providing a transformation matrix (T) which includes information regarding a correspondence between 3-dimensional points (Pi*) associated with the real object () and corresponding 2-dimensional points (or 3-dimensional points) (p,) of the real object () as included in the 2-dimensional (or 3-dimensional) image (), and determining an initial estimate of the transformation matrix (Tl) as an initial basis for an iterative minimization process used for iteratively refining the transformation matrix, determining a Jacobian matrix (J) which includes information regarding the initial estimate of the transformation matrix (Tl) and reference values of 3-dimensional points (Pi*) associated with the real object (). Further, in the iterative minimization process, in each one of multiple iteration loops determining a respective updated version of the transformation matrix (T) based on a respective previous version of the transformation matrix (T) and based on the Jacobian matrix (J), wherein the Jacobian matrix is not updated during the iterative minimization process, and determining the pose of the camera () with respect to the real object () using the transformation matrix (T) determined at the end of the iterative minimization process. As a result, the camera pose can be calculated with rather low computational time.